The Theory and Methodology for Concurrent Design and Planning of Reconfiguration Fixture. - Y. L. Xiong (ICRA (3), 1993)

Geometric modelling of boundless grasps. - Y. L. Xiong; D. John Sanger; David R. Kerr (Robotica, 1993)

Geometric modelling of bounded and frictional grasps. - Y. L. Xiong; D. John Sanger; David R. Kerr (Robotica, 1993)